Related papers: On Triangular Forms for x-Flat Control-Affine Syst…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
Delaunay flip is an elegant, simple tool to convert a triangulation of a point set to its Delaunay triangulation. The technique has been researched extensively for full dimensional triangulations of point sets. However, an important case of…
While computation-enabled cryptosystems applied to control systems have improved security and privacy, a major issue is that the number of recursive operations on encrypted data is limited to a finite number of times in most cases,…
In this paper, we develop a method for computing controlled invariant sets using Semidefinite Programming. We apply our method to the controller design problem for switching affine systems with polytopic safe sets. The task is reduced to a…
We show that a special class of (nonconvex) NMPC problems admits an exact solution by reformulating them as a finite number of convex subproblems, extending previous results to the multi-input case. Our approach is applicable to a special…
We make the interprecision transfers explicit in an algorithmic description of iterative refinement and obtain new insights into the algorithm. One example is the classic variant of iterative refinement where the matrix and the…
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as…
We study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
This paper presents the input convex neural network architecture. These are scalar-valued (potentially deep) neural networks with constraints on the network parameters such that the output of the network is a convex function of (some of)…
We address a class of systems for which the solution to an H-infinity optimal control problem can be given on a very simple closed form. In fact, both the control law and optimal performance value are explicitly given. The class of systems…
This paper studies the problem for an affine hypersurface system to reach a polytopic target set starting from inside a polytope in the state space. We present an exhaustive solution which begins with a characterization of states which can…
This paper deals with linear time-varying, delay systems. Extensions of the concept of differential flatness \cite{Fliess_95} to this context have been first proposed in \cite{Mounier_95,Fliess_96} (see also \cite{Rudolph_03,Chyzak_05}), by…
A novel factorization for the sum of two single-pair matrices is established as product of lower-triangular, tridiagonal, and upper-triangular matrices, leading to semi-closed-form formulas for tridiagonal matrix inversion. Subsequent…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
Linear attention has emerged as a cornerstone for efficient long-context architectures, as evidenced by its integration into state-of-the-art open-source models including Qwen3.5/3.6, Kimi Linear, and RWKV-7. Models that incorporate linear…
This paper studies optimal trajectory-tracking for driftless, x-flat nonlinear systems with three states and two inputs. The tracking problem is formulated in Bolza form with a quadratic cost of the tracking error and its derivative.…
The output of physical systems is often accessible by measurements such as the 3D position of a robotic arm actuated by many actuators or the speckle patterns formed by shining the spot of a laser pointer on a wall. The selection of the…
H-infinity optimal control and estimation are addressed for a class of systems governed by partial differential equations with bounded input and output operators. Diffusion equations are an important example in this class. Explicit formulas…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…